Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors

Kiyotaka Izumi, Keigo Watanabe, Msaaki Shindo, Ryoichi Sato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle, Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.

Original languageEnglish
Title of host publication9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 - Singapore, Singapore
Duration: Dec 5 2006Dec 8 2006

Other

Other9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
CountrySingapore
CitySingapore
Period12/5/0612/8/06

Fingerprint

Ultrasonic sensors
Collision avoidance
Cameras
Robots
Image sensors
Experiments
Sensors

Keywords

  • Behavior selection
  • Obstacle avoidance
  • Quadruped robot
  • Sensor fusion

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

Cite this

Izumi, K., Watanabe, K., Shindo, M., & Sato, R. (2006). Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 [4150420] https://doi.org/10.1109/ICARCV.2006.345078

Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. / Izumi, Kiyotaka; Watanabe, Keigo; Shindo, Msaaki; Sato, Ryoichi.

9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06. 2006. 4150420.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Izumi, K, Watanabe, K, Shindo, M & Sato, R 2006, Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. in 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06., 4150420, 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06, Singapore, Singapore, 12/5/06. https://doi.org/10.1109/ICARCV.2006.345078
Izumi K, Watanabe K, Shindo M, Sato R. Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06. 2006. 4150420 https://doi.org/10.1109/ICARCV.2006.345078
Izumi, Kiyotaka ; Watanabe, Keigo ; Shindo, Msaaki ; Sato, Ryoichi. / Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06. 2006.
@inproceedings{e55edf58e783478081d9d5ee61c52887,
title = "Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors",
abstract = "In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle, Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.",
keywords = "Behavior selection, Obstacle avoidance, Quadruped robot, Sensor fusion",
author = "Kiyotaka Izumi and Keigo Watanabe and Msaaki Shindo and Ryoichi Sato",
year = "2006",
doi = "10.1109/ICARCV.2006.345078",
language = "English",
isbn = "1424403421",
booktitle = "9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06",

}

TY - GEN

T1 - Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors

AU - Izumi, Kiyotaka

AU - Watanabe, Keigo

AU - Shindo, Msaaki

AU - Sato, Ryoichi

PY - 2006

Y1 - 2006

N2 - In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle, Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.

AB - In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle, Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.

KW - Behavior selection

KW - Obstacle avoidance

KW - Quadruped robot

KW - Sensor fusion

UR - http://www.scopus.com/inward/record.url?scp=34547202719&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34547202719&partnerID=8YFLogxK

U2 - 10.1109/ICARCV.2006.345078

DO - 10.1109/ICARCV.2006.345078

M3 - Conference contribution

AN - SCOPUS:34547202719

SN - 1424403421

SN - 9781424403424

BT - 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

ER -